CN112213700B - Millimeter wave angle radar calibration method and millimeter wave angle radar system - Google Patents
Millimeter wave angle radar calibration method and millimeter wave angle radar system Download PDFInfo
- Publication number
- CN112213700B CN112213700B CN202010910421.3A CN202010910421A CN112213700B CN 112213700 B CN112213700 B CN 112213700B CN 202010910421 A CN202010910421 A CN 202010910421A CN 112213700 B CN112213700 B CN 112213700B
- Authority
- CN
- China
- Prior art keywords
- angle
- millimeter wave
- radar
- calibration
- radio frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000004590 computer program Methods 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 8
- 238000012360 testing method Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention is applicable to the technical field of radars, and provides a millimeter wave angle radar calibration method and a millimeter wave angle radar system, wherein the method comprises the following steps: determining a first azimuth angle of the target simulator according to the echo signal of the first wave beam, and determining a second azimuth angle of the target simulator according to the echo signal of the second wave beam; determining a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to a first included angle of the first wave beam and the normal direction of the vertical plane where the millimeter wave angle radar is located, a second included angle of the second wave beam and the normal direction of the vertical plane where the millimeter wave angle radar is located, and the first azimuth angle and the second azimuth angle; the target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is located. According to the invention, only one target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is positioned, and the calibration of the two radio frequency units can be completed according to the first included angle and the second included angle, so that the two target simulators are not required to be arranged, the cost is low, and the required space is small.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a millimeter wave angle radar calibration method and a millimeter wave angle radar system.
Background
Referring to fig. 1, the millimeter wave angle radar system includes two millimeter wave angle radars 11, and the two millimeter wave angle radars 11 are respectively laterally disposed at two ends of a vehicle tail of a vehicle 10 for realizing functions of rear collision early warning, lane changing assistance, door opening collision assistance, crossing early warning, and the like.
In order to expand the range of the working distance, the millimeter wave angle radar 11 mostly adopts beams of different directions to cover the environment around the vehicle 10. The beams used by the LCA (LANE CHANGE ASSISTANCE, lane change assist) function covering the longitudinal long-distance region 13 and the RCTA (Rear Cross TRAFFIC ALERT) function covering the transverse long-distance region 12 are transmitted by different antennas, so that the angle information output by the same target under different functions is different, and calibration is required. Thus, referring to fig. 2, for the millimeter wave angle radar system, the millimeter wave angle radar 11 needs to be provided with two target simulators 14 for calibration, and the calibration space requirement is large and the cost is high.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a millimeter wave angle radar calibration method and a millimeter wave angle radar system, which are used for solving the problems that in the prior art, the millimeter wave angle radar needs two simulators for calibration, the calibration space is required to be larger, and the cost is higher.
A first aspect of an embodiment of the present invention provides a millimeter wave angular radar calibration method, where the millimeter wave angular radar includes: a first radio frequency unit for generating a first beam and a second radio frequency unit for generating a second beam;
The millimeter wave angle radar calibration method comprises the following steps:
acquiring an echo signal of a first wave beam, and determining a first azimuth angle of a target simulator according to the echo signal of the first wave beam;
Acquiring an echo signal of a second wave beam, and determining a second azimuth angle of the target simulator according to the echo signal of the second wave beam;
Acquiring a first included angle between a first beam and the normal direction of the vertical plane where the millimeter wave angle radar is positioned and a second included angle between a second beam and the normal direction of the vertical plane where the millimeter wave angle radar is positioned;
Determining a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle; the target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is located.
A second aspect of the embodiment of the present invention provides a millimeter wave angular radar calibration device, the millimeter wave angular radar including: a first radio frequency unit for generating a first beam and a second radio frequency unit for generating a second beam;
the millimeter wave angle radar calibration device comprises:
The first calibration module is used for acquiring echo signals of the first wave beam and determining a first azimuth angle of the target simulator according to the echo signals of the first wave beam;
The second calibration module is used for acquiring echo signals of the second wave beam and determining a second azimuth angle of the target simulator according to the echo signals of the second wave beam;
The included angle acquisition module is used for acquiring a first included angle between the first beam and the normal direction of the vertical plane where the millimeter wave angular radar is positioned and a second included angle between the second beam and the normal direction of the vertical plane where the millimeter wave angular radar is positioned;
The calibration angle determining module is used for determining the calibration angle of the first radio frequency unit and the calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle;
The target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is located.
A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the millimeter wave angular radar calibration method as provided in the first aspect of the embodiments of the present invention when the processor executes the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the steps of the millimeter wave angular radar calibration method as provided in the first aspect of the embodiments of the present invention.
A fifth aspect of an embodiment of the present invention provides a millimeter wave angle radar system, comprising: a first millimeter wave angle radar and a second millimeter wave angle radar;
the first millimeter wave angle radar is arranged at one end of the vehicle tail, and the second millimeter wave angle radar is arranged at the other end of the vehicle tail;
the first millimeter wave angle radar and the second millimeter wave angle radar are calibrated by adopting the millimeter wave angle radar calibration method provided by the first aspect of the embodiment of the invention.
A sixth aspect of the embodiment of the present invention provides a millimeter wave angular radar calibration system, which is used for calibrating the millimeter wave angular radar system provided by the fifth aspect of the embodiment of the present invention; the millimeter wave angle radar calibration system comprises: two target simulators and the terminal equipment provided by the third aspect of the embodiment of the invention;
And two target simulators, wherein one of the two target simulators is arranged in the normal direction of the vertical plane where the first millimeter wave angle radar is arranged, and the other target simulators is arranged in the normal direction of the vertical plane where the second millimeter wave angle radar is arranged.
The embodiment of the invention provides a millimeter wave angle radar calibration method, which comprises the following steps: acquiring an echo signal of a first wave beam, and determining a first azimuth angle of a target simulator according to the echo signal of the first wave beam; acquiring an echo signal of a second wave beam, and determining a second azimuth angle of the target simulator according to the echo signal of the second wave beam; determining a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to a first included angle between a first beam and a normal direction of a vertical plane where the millimeter wave angle radar is positioned and a second included angle between a second beam and a normal direction of the vertical plane where the millimeter wave angle radar is positioned, which are obtained during the offline test of the first azimuth angle, the second azimuth angle and the millimeter wave angle radar; the target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is located. Because the millimeter wave angle radar needs to test the first included angle and the second included angle when in offline test, in the embodiment of the invention, only one target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is positioned, and the two radio frequency units are calibrated by using the known first included angle and the second included angle respectively, the required target simulators are fewer, the calibration space is small, the cost is low, and the operation is simpler and more convenient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a millimeter wave angular radar system provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a millimeter wave angle radar system of the prior art;
Fig. 3 is a schematic implementation flow chart of a millimeter wave angle radar calibration method according to an embodiment of the present invention;
Fig. 4 is a schematic diagram of the millimeter wave angular radar calibration according to the embodiment of the present invention;
fig. 5 is a schematic diagram of millimeter wave angular radar in the down test according to the embodiment of the present invention;
Fig. 6 is a schematic diagram of a millimeter wave angle radar calibration device provided by an embodiment of the present invention;
Fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a millimeter wave angle radar calibration system according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Referring to fig. 3 and 4, an embodiment of the present invention provides a millimeter wave angular radar calibration method, the millimeter wave angular radar 11 includes: a first radio frequency unit for generating a first beam and a second radio frequency unit for generating a second beam;
The millimeter wave angle radar calibration method comprises the following steps:
step S101: acquiring echo signals of the first wave beam, and determining a first azimuth angle of the target simulator 14 according to the echo signals of the first wave beam;
Step S102: acquiring echo signals of the second beam, and determining a second azimuth angle of the target simulator 14 according to the echo signals of the second beam;
Step S103: acquiring a first included angle between a first beam and the normal direction of the vertical plane where the millimeter wave angle radar is positioned and a second included angle between a second beam and the normal direction of the vertical plane where the millimeter wave angle radar is positioned;
step S104: determining a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle;
wherein the target simulator 14 is disposed in the normal direction of the vertical plane in which the millimeter wave angle radar 11 is located.
Referring to fig. 1, the millimeter wave angle radar may have a longitudinal range of more than 100m (e.g., LCA function) and a lateral range of more than 80m (e.g., RCTA function). The millimeter wave angle radar is required to be calibrated after being installed on the vehicle, so that errors caused by a production line installation process or structural member machining errors are eliminated, if the calibration effect is not ideal, the acting distance of the millimeter wave angle radar can be greatly influenced, for example, the effective longitudinal acting distance is reduced to 60-70 m, the effective transverse acting distance is reduced to 50 m, and the performance of the millimeter wave angle radar system is lost.
Theoretically, the measured value of the millimeter wave radar on the target angle depends on the phase relation of a plurality of receiving channels, but in reality, different relative positional relations of the transmitting antenna and the receiving antenna bring about different coupling effects, and the beamforming and the pointing directions of different transmitting antennas are different, with the result that the target azimuth angle obtained with different transmitting antennas is different even if the target is at the same physical azimuth angle. Therefore, for the millimeter wave angular radar 11, the first beam (for example, RCTA functional beam) and the second beam (for example, LCA functional beam) are emitted by different antennas, so that the angle information output by the same target under different functions is different, and therefore, the most ideal calibration manner when the RCTA function and the LCA function are respectively calibrated can effectively compensate the angle errors caused by the installation errors, the structural errors and the bumpers. Thus, the prior art millimeter wave angle radar system requires four target simulators 14 to complete the calibration.
Referring to fig. 5, the millimeter wave angle radar 11 also needs to be calibrated during the off-line test of the whole machine, and the target simulators 14 are respectively set in the first beam direction, the second beam direction and the normal direction of the plane where the millimeter wave angle radar 11 is located to perform the azimuth test, so as to obtain the azimuth angles of the three target simulators 14. Thus, a first angle between the first beam direction and the normal direction of the vertical plane in which the millimeter wave angular radar 11 is located, and a second angle between the second beam and the normal direction of the vertical plane in which the millimeter wave angular radar 11 is located can be obtained. In the embodiment of the present invention, referring to fig. 4, when the millimeter wave angle radar 11 is mounted on the vehicle 10 for calibration, only one target simulator 14 needs to be set in the normal direction of the plane where the millimeter wave angle radar 11 is located, the azimuth angle of the target simulator 14 obtained by the first beam detection and the azimuth angle of the target simulator 14 obtained by the second beam detection are respectively obtained, and the calibration angles of the first radio frequency unit and the second radio frequency unit are obtained by combining the known first included angle and the known second included angle. Only one target simulator 14 is needed to complete calibration, so that the space requirement is small, the workshop transformation cost is saved, and the operation is simple and easy. Meanwhile, as the angle measurement precision of the millimeter wave angle radar 11 in the normal direction of the vertical plane is highest, the target simulator 14 is arranged in the normal direction of the vertical plane where the millimeter wave angle radar 11 is positioned for calibration, so that the system error can be further reduced, and the calibration precision of different radio frequency units is improved.
In some embodiments, step S104 may include:
taking the normal direction of the vertical plane where the millimeter wave angle radar 11 is positioned as the 0-degree direction;
When the angle of the first beam is positive, the angle of the second beam is negative,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝∠LCA+ΔLCDA
The calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝-∠RCTA+ΔRCTA
When the angle of the second beam is positive, and the angle of the first beam is negative, then,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝-∠LCA+ΔLCDA
The calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝∠RCTA+ΔRCTA
Wherein, angle LCA is a first included angle, and angle RCTA is a second included angle; ΔLCDA is the first azimuthal angle, Δ RCTA is the second azimuthal angle.
Since the normal direction of the vertical plane in which the millimeter wave angle radar 11 is located is set as the 0 ° direction, the angle of the target simulator 14 should be theoretically 0 °, and therefore, the measured first azimuth angle is the measurement deviation of the first beam, and the second azimuth angle is the angle deviation of the second beam, which is the angle deviation caused by the combination of factors such as the installation error of the millimeter wave angle radar 11 on the vehicle 10, the bracket processing error, and the bumper. According to the definition of positive and negative angles, when the angle of the first beam is positive and the angle of the second beam is negative, the azimuth angle of the first beam is positive, and the calibration angle LCAcali (azimuth angle of the first beam) of the first radio frequency unit is the sum of the first included angle and the measurement deviation, namely < LCA+delta LCDA. The principle of the second radio frequency unit is the same as that of angle RCTAcali.
In the embodiment of the invention, the first azimuth angle can be obtained directly by utilizing the LCA function of the vehicle 10, and the second azimuth angle can be obtained by utilizing the RCTA function.
The calibration angle LCAcali of the first radio frequency unit and the calibration angle RCTAcali of the second radio frequency unit are used as initial data to be stored in terminal equipment of the millimeter wave angle radar system and used as actual installation angles of the millimeter wave angle radar system, and the performance of the millimeter wave angle radar system can be effectively improved.
In some embodiments, the target simulator 14 is 2m from the vertical plane in which the millimeter wave angular radar 11 is located.
In some embodiments, the operating frequency bands of the first radio frequency unit and the second radio frequency unit are different.
The first radio frequency unit and the second radio frequency unit are arranged in different frequency bands, the first wave beam and the second wave beam are not mutually influenced, and the first radio frequency unit and the second radio frequency unit can be calibrated at the same time.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Referring to fig. 6, the embodiment of the present invention further provides a millimeter wave angular radar calibration device, the millimeter wave angular radar 11 includes: a first radio frequency unit for generating a first beam and a second radio frequency unit for generating a second beam;
the millimeter wave angle radar calibration device comprises:
A first calibration module 21, configured to acquire an echo signal of the first beam, and determine a first azimuth angle of the target simulator 14 according to the echo signal of the first beam;
A second calibration module 22, configured to acquire an echo signal of the second beam, and determine a second azimuth angle of the target simulator 14 according to the echo signal of the second beam;
The included angle acquisition module 23 is configured to acquire a first included angle between the first beam and a normal direction of a vertical plane in which the millimeter wave angular radar 11 is located, and a second included angle between the second beam and a normal direction of a vertical plane in which the millimeter wave angular radar is located;
The calibration angle determining module 24 is configured to determine a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle;
wherein the target simulator 14 is disposed in the normal direction of the vertical plane in which the millimeter wave angle radar 11 is located.
In some embodiments, the calibration angle determination module 24 may include:
a zero degree determination unit 241 for taking the normal direction of the vertical plane in which the millimeter wave angle radar 11 is located as the 0 ° direction;
A calibration angle determining unit 242, configured to, when the angle of the first beam is positive and the angle of the second beam is negative,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝∠LCA+ΔLCDA
The calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝-∠RCTA+ΔRCTA
When the angle of the second beam is positive, and the angle of the first beam is negative, then,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝-∠LCA+ΔLCDA
The calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝∠RCTA+ΔRCTA
Wherein, angle LCA is a first included angle, and angle RCTA is a second included angle; ΔLCDA is the first azimuthal angle, Δ RCTA is the second azimuthal angle.
In some embodiments, the target simulator 14 is 2m from the vertical plane in which the millimeter wave angular radar 11 is located.
In some embodiments, the operating frequency bands of the first radio frequency unit and the second radio frequency unit are different.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional units and modules, that is, the internal structure of the terminal device is divided into different functional units or modules, so as to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above device may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Fig. 7 is a schematic block diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 7, the terminal device 4 of this embodiment includes: one or more processors 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40. The steps in the embodiments of the millimeter wave angle radar calibration method described above, such as steps S101 to S104 shown in fig. 3, are implemented when the processor 40 executes the computer program 42. Or processor 40, when executing computer program 42, performs the functions of the modules/units of the embodiments of millimeter wave angle radar calibration device described above, such as the functions of modules 21-24 shown in fig. 6.
Illustratively, the computer program 42 may be partitioned into one or more modules/units, which are stored in the memory 41 and executed by the processor 40 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 42 in the terminal device 4. For example, the computer program 42 may be divided into a first calibration module 21, a second calibration module 22, an angle acquisition module 23 and a calibration angle determination module 24.
A first calibration module 21, configured to acquire an echo signal of the first beam, and determine a first azimuth angle of the target simulator 14 according to the echo signal of the first beam;
A second calibration module 22, configured to acquire an echo signal of the second beam, and determine a second azimuth angle of the target simulator 14 according to the echo signal of the second beam;
an included angle acquiring module 23, configured to acquire a first included angle between the first beam and a normal direction of a vertical plane where the millimeter wave angular radar 11 is located, and a second included angle between the second beam and a normal direction of a vertical plane where the millimeter wave angular radar 11 is located;
The calibration angle determining module 24 is configured to determine a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle; wherein the target simulator 14 is disposed in the normal direction of the vertical plane in which the millimeter wave angle radar 11 is located.
Other modules or units are not described in detail herein.
The terminal device 4 includes, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 7 is only one example of a terminal device and does not constitute a limitation of the terminal device 4, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device 4 may also include an input device, an output device, a network access device, a bus, etc.
The Processor 40 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory 41 may also be an external storage device of the terminal device, such as a plug-in hard disk provided on the terminal device, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 41 may also include both an internal storage unit of the terminal device and an external storage device. The memory 41 is used for storing a computer program 42 and other programs and data required by the terminal device. The memory 41 may also be used to temporarily store data that has been output or is to be output.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed terminal device and method may be implemented in other manners. For example, the above-described terminal device embodiments are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
Referring to fig. 8, corresponding to the above embodiment, the embodiment of the present invention further provides a millimeter wave angle radar system, including: a first millimeter wave angle radar and a second millimeter wave angle radar;
the first millimeter wave angle radar is arranged at one end of the vehicle tail, and the second millimeter wave angle radar is arranged at the other end of the vehicle tail;
the first millimeter wave angle radar and the second millimeter wave angle radar are calibrated by adopting the millimeter wave angle radar calibration method provided by the embodiment.
The first millimeter-wave angular radar may be the millimeter-wave angular radar 11 on the left side in fig. 5, and the second millimeter-wave angular radar is the millimeter-wave angular radar 11 on the right side in fig. 5; or (b)
The first millimeter-wave angular radar may be the millimeter-wave angular radar 11 on the right side in fig. 5, and the second millimeter-wave angular radar may be the millimeter-wave angular radar 11 on the left side in fig. 5.
Referring to fig. 8, the embodiment of the invention further provides a millimeter wave angle radar calibration system, which is used for calibrating the millimeter wave angle radar system; the millimeter wave angle radar calibration system comprises: two target simulators 14 and the terminal device provided in the above embodiments;
two target simulators 14, one of which is disposed in the normal direction of the vertical plane in which the first millimeter wave angle radar is located, and the other of which is disposed in the normal direction of the vertical plane in which the second millimeter wave angle radar is located.
In some embodiments, the first millimeter wave angle radar may be 2m from its corresponding target simulator 14 and the second millimeter wave angle radar may be 2m from its corresponding target simulator 14.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. A millimeter wave angular radar calibration method, characterized in that the millimeter wave angular radar comprises: a first radio frequency unit for generating a first beam and a second radio frequency unit for generating a second beam;
The millimeter wave angle radar calibration method comprises the following steps:
Acquiring an echo signal of the first wave beam, and determining a first azimuth angle of a target simulator according to the echo signal of the first wave beam;
acquiring an echo signal of the second wave beam, and determining a second azimuth angle of the target simulator according to the echo signal of the second wave beam;
acquiring a first included angle between the first beam and the normal direction of the vertical plane where the millimeter wave angle radar is located and a second included angle between the second beam and the normal direction of the vertical plane where the millimeter wave angle radar is located;
determining a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle;
the target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is located;
The determining the calibration angle of the first radio frequency unit and the calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle includes:
taking the normal direction of the vertical plane where the millimeter wave angle radar is positioned as the 0-degree direction;
when the angle of the first beam is positive, the angle of the second beam is negative,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝∠LCA+ΔLCDA
the calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝-∠RCTA+ΔRCTA
When the angle of the second beam is positive and the angle of the first beam is negative, then,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝-∠LCA+ΔLCDA
the calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝∠RCTA+ΔRCTA
Wherein, angle LCA is the first included angle, and angle RCTA is the second included angle; Δlcda is the first azimuth angle, Δ RCTA is the second azimuth angle.
2. The millimeter wave angular radar calibration method according to claim 1, wherein a distance between the target simulator and a vertical plane in which the millimeter wave angular radar is located is 2m.
3. The millimeter wave angular radar calibration method according to any one of claims 1 to 2, wherein the operating frequency bands of the first radio frequency unit and the second radio frequency unit are different.
4. A millimeter wave angular radar calibration device, characterized in that the millimeter wave angular radar comprises: a first radio frequency unit for generating a first beam and a second radio frequency unit for generating a second beam;
the millimeter wave angle radar calibration device comprises:
the first calibration module is used for acquiring the echo signal of the first wave beam and determining a first azimuth angle of the target simulator according to the echo signal of the first wave beam;
The second calibration module is used for acquiring the echo signal of the second wave beam and determining a second azimuth angle of the target simulator according to the echo signal of the second wave beam;
the included angle acquisition module is used for acquiring a first included angle between the first beam and the normal direction of the vertical plane where the millimeter wave angular radar is located and a second included angle between the second beam and the normal direction of the vertical plane where the millimeter wave angular radar is located;
The calibration angle determining module is used for determining a calibration angle of the first radio frequency unit and a calibration angle of the second radio frequency unit according to the first azimuth angle, the second azimuth angle, the first included angle and the second included angle;
the target simulator is arranged in the normal direction of the vertical plane where the millimeter wave angle radar is located;
The calibration angle determining module is specifically configured to:
taking the normal direction of the vertical plane where the millimeter wave angle radar is positioned as the 0-degree direction;
when the angle of the first beam is positive, the angle of the second beam is negative,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝∠LCA+ΔLCDA
the calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝-∠RCTA+ΔRCTA
When the angle of the second beam is positive and the angle of the first beam is negative, then,
The calculation formula of the calibration angle LCAcali of the first radio frequency unit is as follows:
∠LCAcali＝-∠LCA+ΔLCDA
the calculation formula of the calibration angle RCTAcali of the second radio frequency unit is as follows:
∠RCTAcali＝∠RCTA+ΔRCTA
Wherein, angle LCA is the first included angle, and angle RCTA is the second included angle; Δlcda is the first azimuth angle, Δ RCTA is the second azimuth angle.
5. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the millimeter wave angular radar calibration method according to any one of claims 1 to 3 when the computer program is executed by the processor.
6. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the millimeter wave angle radar calibration method according to any one of claims 1 to 3.
7. A millimeter wave angular radar system, comprising: a first millimeter wave angle radar and a second millimeter wave angle radar;
The first millimeter wave angle radar is arranged at one end of the vehicle tail, and the second millimeter wave angle radar is arranged at the other end of the vehicle tail;
The first millimeter wave angular radar and the second millimeter wave angular radar are calibrated by the millimeter wave angular radar calibration method according to any one of claims 1 to 3.
8. A millimeter wave angular radar calibration system for calibrating the millimeter wave angular radar system of claim 7; the millimeter wave angle radar calibration system comprises: two target simulators and a terminal device according to claim 5;
And one of the two target simulators is arranged in the normal direction of the vertical plane where the first millimeter wave angle radar is positioned, and the other one of the two target simulators is arranged in the normal direction of the vertical plane where the second millimeter wave angle radar is positioned.
9. The millimeter wave angle radar calibration system of claim 8, wherein the first millimeter wave angle radar is 2m from the target simulator to which it corresponds and the second millimeter wave angle radar is 2m from the target simulator to which it corresponds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010910421.3A CN112213700B (en) | 2020-09-02 | 2020-09-02 | Millimeter wave angle radar calibration method and millimeter wave angle radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010910421.3A CN112213700B (en) | 2020-09-02 | 2020-09-02 | Millimeter wave angle radar calibration method and millimeter wave angle radar system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112213700A CN112213700A (en) | 2021-01-12 |
| CN112213700B true CN112213700B (en) | 2024-05-07 |
Family
ID=74048852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010910421.3A Active CN112213700B (en) | 2020-09-02 | 2020-09-02 | Millimeter wave angle radar calibration method and millimeter wave angle radar system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112213700B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130129591A (en) * | 2012-05-21 | 2013-11-29 | 삼성탈레스 주식회사 | Dual tx-beam type rear and side directional radar |
| CN108919215A (en) * | 2018-09-21 | 2018-11-30 | 北京润科通用技术有限公司 | Automobile-used millimetre-wave radar calibration system and method |
| CN109188379A (en) * | 2018-06-11 | 2019-01-11 | 深圳市保途者科技有限公司 | Drive the automatic calibrating method of backup radar operating angle |
| CN110082734A (en) * | 2019-04-28 | 2019-08-02 | 安徽瑞泰智能装备有限公司 | Caliberating device, calibration system and the scaling method of automobile mounted millimetre-wave radar extrinsic calibration |
| CN111366901A (en) * | 2020-03-05 | 2020-07-03 | 北京小马慧行科技有限公司 | Method and device for calibrating installation deviation of azimuth angle of vehicle-mounted millimeter wave radar |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102545536B1 (en) * | 2018-10-08 | 2023-06-21 | 주식회사 에이치엘클레무브 | Antenna device, and radar including the same |
-
2020
- 2020-09-02 CN CN202010910421.3A patent/CN112213700B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130129591A (en) * | 2012-05-21 | 2013-11-29 | 삼성탈레스 주식회사 | Dual tx-beam type rear and side directional radar |
| CN109188379A (en) * | 2018-06-11 | 2019-01-11 | 深圳市保途者科技有限公司 | Drive the automatic calibrating method of backup radar operating angle |
| CN108919215A (en) * | 2018-09-21 | 2018-11-30 | 北京润科通用技术有限公司 | Automobile-used millimetre-wave radar calibration system and method |
| CN110082734A (en) * | 2019-04-28 | 2019-08-02 | 安徽瑞泰智能装备有限公司 | Caliberating device, calibration system and the scaling method of automobile mounted millimetre-wave radar extrinsic calibration |
| CN111366901A (en) * | 2020-03-05 | 2020-07-03 | 北京小马慧行科技有限公司 | Method and device for calibrating installation deviation of azimuth angle of vehicle-mounted millimeter wave radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112213700A (en) | 2021-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3780421B1 (en) | Calibration method and antenna array amplitude-phase calibration system | |
| CN110865364B (en) | Target resolving method of radar and terminal equipment | |
| US20220146623A1 (en) | Radar System and Vehicle | |
| US20210025972A1 (en) | Method for calibrating a mimo radar sensor for motor vehicles | |
| CN112415485B (en) | Angle super-resolution method and device of millimeter wave radar and terminal equipment | |
| CN110646772B (en) | Radar installation parameter calibration method and device | |
| CN111366901A (en) | Method and device for calibrating installation deviation of azimuth angle of vehicle-mounted millimeter wave radar | |
| CN112578358A (en) | Calibration method and device for millimeter wave radar | |
| CN111537967B (en) | Radar deflection angle correction method and device and radar terminal | |
| EP3550323A1 (en) | Radar device | |
| CN112926218A (en) | Method, device, equipment and storage medium for acquiring clearance | |
| CN112198485A (en) | Automatic calibration system and method for millimeter wave radar | |
| KR20200141681A (en) | Radar apparatus and antenna apparatus therefor | |
| CN112098968A (en) | Target positioning method and device for radar | |
| CN111458712B (en) | Apparatus and method for estimating number of targets | |
| CN112213700B (en) | Millimeter wave angle radar calibration method and millimeter wave angle radar system | |
| CN113777574A (en) | Sparse array grating lobe arrangement method, device and related equipment | |
| WO2021201945A2 (en) | Radar with virtual planar array (vpa) antenna | |
| CN113030887A (en) | Off-line calibration method and device for installation angle based on millimeter wave radar | |
| CN114924246A (en) | Target detection method, target detection device, millimeter wave radar and storage medium | |
| CN109613474A (en) | A kind of angle measurement compensation method suitable for short distance trailer-mounted radar | |
| CN111295596B (en) | Angle measuring method, angle measuring equipment and angle measuring storage medium for millimeter wave radar | |
| CN115932760A (en) | Calibration method and device for special-shaped linear array radar, radar and storage medium | |
| CN116359908A (en) | Point cloud data enhancement method, device, computer equipment, system and storage medium | |
| CN112213701A (en) | Radar near-field azimuth calculation method and device, terminal and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |